MuCAR-4

MuCAR-4 ist based on a Volkswagen Tiguan. The vehicle is fully equipped with drive-by-wire capabilities:

electro-mechanical power steering

electronic trottle interface

electro-mechanical brake actuator

electro-mechanical gearbox actuator

Many sensors were integrated to perceive the environment as well as the vehicle's state:

Velodyne HDL-64 LiDAR sensor

Oxford RT3003 INS

MarvEye-8 camera platform [todo: link], equipped with color cameras

stereo camera systems looking forward and backward

A so-called 'high-level computer' runs all sensor data processing, path planning and behavior algorithms. The low-level control and electrical interfaces to the actuators are realized using a real-time capable dSPACE MicroAutobox.